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Separated Pdo and Pdo entry classes.

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This commit is contained in:
Florian Pose
2008-06-02 10:21:20 +00:00
parent 9eccde6b9f
commit 940e559c3d
7 changed files with 205 additions and 104 deletions
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1
TODO
View File

@@ -23,7 +23,6 @@ Version 1.4.0:
* SDO write access.
* Wait for bus scanning, even when link is not up at ecrt_request_master().
* Attach Pdo names.
* Separate Pdo and Pdo entry classes.
* Mailbox protocol handlers.
* Mailbox state machine using toggle bits.
* Make scanning and configuration run parallel (each).

1
master/Kbuild.in
View File

@@ -54,6 +54,7 @@ ec_master-objs := \
master.o \
module.o \
pdo.o \
pdo_entry.o \
pdo_list.o \
sdo.o \
sdo_entry.o \

1
master/Makefile.am
View File

@@ -56,6 +56,7 @@ EXTRA_DIST = \
master.c master.h \
module.c \
pdo.c pdo.h \
pdo_entry.c pdo_entry.h \
pdo_list.c pdo_list.h \
sdo.c sdo.h \
sdo_entry.c sdo_entry.h \

85
master/pdo.c
View File

@@ -229,88 +229,3 @@ int ec_pdo_equal_entries(
}
/*****************************************************************************/
/** Pdo entry constructor.
*/
void ec_pdo_entry_init(
ec_pdo_entry_t *entry /**< Pdo entry. */
)
{
entry->name = NULL;
}
/*****************************************************************************/
/** Pdo entry copy constructor.
*/
int ec_pdo_entry_init_copy(
ec_pdo_entry_t *entry, /**< Pdo entry. */
const ec_pdo_entry_t *other /**< Pdo entry to copy from. */
)
{
entry->index = other->index;
entry->subindex = other->subindex;
entry->name = NULL;
entry->bit_length = other->bit_length;
if (ec_pdo_entry_set_name(entry, other->name))
return -1;
return 0;
}
/*****************************************************************************/
/** Pdo entry destructor.
*/
void ec_pdo_entry_clear(ec_pdo_entry_t *entry /**< Pdo entry. */)
{
if (entry->name)
kfree(entry->name);
}
/*****************************************************************************/
/** Set Pdo entry name.
*/
int ec_pdo_entry_set_name(
ec_pdo_entry_t *entry, /**< Pdo entry. */
const char *name /**< New name. */
)
{
unsigned int len;
if (entry->name)
kfree(entry->name);
if (name && (len = strlen(name))) {
if (!(entry->name = (char *) kmalloc(len + 1, GFP_KERNEL))) {
EC_ERR("Failed to allocate Pdo entry name.\n");
return -1;
}
memcpy(entry->name, name, len + 1);
} else {
entry->name = NULL;
}
return 0;
}
/*****************************************************************************/
/** Compares two Pdo entries.
*
* \retval 1 The entries are equal.
* \retval 0 The entries differ.
*/
int ec_pdo_entry_equal(
const ec_pdo_entry_t *entry1, /**< First Pdo entry. */
const ec_pdo_entry_t *entry2 /**< Second Pdo entry. */
)
{
return entry1->index == entry2->index
&& entry1->subindex == entry2->subindex
&& entry1->bit_length == entry2->bit_length;
}
/*****************************************************************************/

19
master/pdo.h
View File

@@ -46,6 +46,7 @@
#include "../include/ecrt.h"
#include "globals.h"
#include "pdo_entry.h"
/*****************************************************************************/
@@ -64,18 +65,6 @@ typedef struct {
/*****************************************************************************/
/** Pdo entry description.
*/
typedef struct {
struct list_head list; /**< list item */
uint16_t index; /**< Pdo entry index */
uint8_t subindex; /**< Pdo entry subindex */
char *name; /**< entry name */
uint8_t bit_length; /**< entry length in bit */
} ec_pdo_entry_t;
/*****************************************************************************/
void ec_pdo_init(ec_pdo_t *);
int ec_pdo_init_copy(ec_pdo_t *, const ec_pdo_t *);
void ec_pdo_clear(ec_pdo_t *);
@@ -85,12 +74,6 @@ ec_pdo_entry_t *ec_pdo_add_entry(ec_pdo_t *, uint16_t, uint8_t, uint8_t);
int ec_pdo_copy_entries(ec_pdo_t *, const ec_pdo_t *);
int ec_pdo_equal_entries(const ec_pdo_t *, const ec_pdo_t *);
void ec_pdo_entry_init(ec_pdo_entry_t *);
int ec_pdo_entry_init_copy(ec_pdo_entry_t *, const ec_pdo_entry_t *);
void ec_pdo_entry_clear(ec_pdo_entry_t *);
int ec_pdo_entry_set_name(ec_pdo_entry_t *, const char *);
int ec_pdo_entry_equal(const ec_pdo_entry_t *, const ec_pdo_entry_t *);
/*****************************************************************************/
#endif

130
master/pdo_entry.c Normal file
View File

@@ -0,0 +1,130 @@
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT process data object entry methods.
*/
/*****************************************************************************/
#include <linux/slab.h>
#include "pdo_entry.h"
/*****************************************************************************/
/** Pdo entry constructor.
*/
void ec_pdo_entry_init(
ec_pdo_entry_t *entry /**< Pdo entry. */
)
{
entry->name = NULL;
}
/*****************************************************************************/
/** Pdo entry copy constructor.
*/
int ec_pdo_entry_init_copy(
ec_pdo_entry_t *entry, /**< Pdo entry. */
const ec_pdo_entry_t *other /**< Pdo entry to copy from. */
)
{
entry->index = other->index;
entry->subindex = other->subindex;
entry->name = NULL;
entry->bit_length = other->bit_length;
if (ec_pdo_entry_set_name(entry, other->name))
return -1;
return 0;
}
/*****************************************************************************/
/** Pdo entry destructor.
*/
void ec_pdo_entry_clear(ec_pdo_entry_t *entry /**< Pdo entry. */)
{
if (entry->name)
kfree(entry->name);
}
/*****************************************************************************/
/** Set Pdo entry name.
*/
int ec_pdo_entry_set_name(
ec_pdo_entry_t *entry, /**< Pdo entry. */
const char *name /**< New name. */
)
{
unsigned int len;
if (entry->name)
kfree(entry->name);
if (name && (len = strlen(name))) {
if (!(entry->name = (char *) kmalloc(len + 1, GFP_KERNEL))) {
EC_ERR("Failed to allocate Pdo entry name.\n");
return -1;
}
memcpy(entry->name, name, len + 1);
} else {
entry->name = NULL;
}
return 0;
}
/*****************************************************************************/
/** Compares two Pdo entries.
*
* \retval 1 The entries are equal.
* \retval 0 The entries differ.
*/
int ec_pdo_entry_equal(
const ec_pdo_entry_t *entry1, /**< First Pdo entry. */
const ec_pdo_entry_t *entry2 /**< Second Pdo entry. */
)
{
return entry1->index == entry2->index
&& entry1->subindex == entry2->subindex
&& entry1->bit_length == entry2->bit_length;
}
/*****************************************************************************/

72
master/pdo_entry.h Normal file
View File

@@ -0,0 +1,72 @@
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT Process data object structure.
*/
/*****************************************************************************/
#ifndef __EC_PDO_ENTRY_H__
#define __EC_PDO_ENTRY_H__
#include <linux/list.h>
#include "../include/ecrt.h"
#include "globals.h"
/*****************************************************************************/
/** Pdo entry description.
*/
typedef struct {
struct list_head list; /**< list item */
uint16_t index; /**< Pdo entry index */
uint8_t subindex; /**< Pdo entry subindex */
char *name; /**< entry name */
uint8_t bit_length; /**< entry length in bit */
} ec_pdo_entry_t;
/*****************************************************************************/
void ec_pdo_entry_init(ec_pdo_entry_t *);
int ec_pdo_entry_init_copy(ec_pdo_entry_t *, const ec_pdo_entry_t *);
void ec_pdo_entry_clear(ec_pdo_entry_t *);
int ec_pdo_entry_set_name(ec_pdo_entry_t *, const char *);
int ec_pdo_entry_equal(const ec_pdo_entry_t *, const ec_pdo_entry_t *);
/*****************************************************************************/
#endif